Self-walking low-pressure grouting equipment

Abstract

The application relates to the technical field of grouting equipment, and provides a self-walking low-pressure grouting equipment, which comprises a walking mechanism and a discharging pipe; the walking mechanism is used for driving the whole grouting equipment to move; a storage tank is rotationally arranged on the walking mechanism; the rotating axis of the storage tank is arranged perpendicularly to the walking direction of the walking mechanism; the rotating axis of the storage tank is arranged in parallel with the walking plane where the walking mechanism is located; four connecting ports are arranged on the storage tank and are distributed on the storage tank at equal intervals in the circumferential direction around the rotating axis of the storage tank; one end of the rotating axis of the storage tank is a feeding pipe opening, the feeding pipe opening is in communication with the inside of the storage tank, and a feeding pipe is connected to the feeding pipe opening; and one grouting pipe is connected to each of the four connecting ports. The self-walking low-pressure grouting equipment has the advantages of continuous grouting, less staff, and high grouting efficiency.

Description

Technical Field

[0001] This application relates to the field of grouting technology, and in particular to a self-propelled low-pressure grouting device. Background Technology

[0002] Existing grouting machines use low-pressure grouting machines to supply grouting fluid during grouting operations. The grouting pipe is connected to the grouting joint, which is then connected to the grouting nozzle inside the crack. Grouting is performed by holding the grouting pipe by hand. After the grouting requirements are met, the next grouting hole is grouted. This grouting process is inefficient, as only one hole can be grouted at a time. The grouting process requires three people: one person to install the grouting nozzle and connect the grouting joint, another person to hold the grouting pipe during grouting, and another person to control the grouting machine. The entire process requires many workers, the construction operation is cumbersome, and the overall filling efficiency is low. Summary of the Invention

[0003] The purpose of this application is to provide a self-propelled low-pressure grouting device to solve or alleviate the problems existing in the prior art.

[0004] To achieve the above objectives, this application provides the following technical solution: This application provides a self-propelled low-pressure grouting device, comprising: The traveling mechanism is used to move the grouting equipment as a whole. A storage tank is rotatably mounted on a traveling mechanism. The rotation axis of the storage tank is perpendicular to the traveling direction of the traveling mechanism and parallel to the traveling plane of the traveling mechanism. The storage tank has four connection ports, which are evenly spaced around the rotation axis of the storage tank. One end of the rotation axis of the storage tank is a feed inlet, which communicates with the interior of the storage tank and is connected to a grouting pipe. Each of the four connection ports is connected to a grouting pipe, and each grouting pipe has a grouting connector at its free end.

[0005] Optionally, the walking mechanism includes a walking drive component and a walking track. The walking drive component is connected to the walking track and drives the walking track to move. The outer surface of the walking track is provided with a plurality of suction cups.

[0006] Optionally, the walking mechanism is provided with two rotating brackets, each of which is provided with a bearing at the end away from the walking mechanism. The two ends of the rotation axis of the storage tank are respectively provided with a rotating shaft and a feed inlet, and the rotating shaft and the feed inlet are rotatably connected to the bearings of the two rotating brackets.

[0007] Optionally, a receiving mechanism for receiving grout spilled from the pulled-out grouting pipe and fixing the grouting pipe is provided at the tail end of the traveling mechanism in the traveling direction.

[0008] Optionally, the receiving mechanism includes a receiving bracket and a receiving tray. Two receiving brackets are provided and fixed in the middle of the traveling mechanism. The two ends of the receiving tray are rotatably connected to the two receiving brackets respectively. The rotating ends of the receiving tray are located above its center of gravity. The receiving tray has a plurality of equally spaced insertion holes for fixing the grouting joint. An adsorption pad is provided in the receiving tray. The receiving bracket is provided with a C-shaped clamp for fixing the grouting pipe.

[0009] Optionally, the storage tank has a cylindrical structure, and the feed inlet and the rotating shaft are respectively located at both ends of the axial direction of the storage tank; the four connection ports are evenly distributed on the curved sidewall of the storage tank around the axis of the storage tank. Beneficial effects

[0010] The self-propelled low-pressure grouting equipment provided in this application embodiment, through the setting of a rotatable storage tank, can connect three grouting pipes at one time for grouting operations. The walking mechanism drives the storage tank to move on its own. After moving a certain distance, the grouting pipe located at the tail of the walking mechanism is pulled out, and the storage tank is rotated to rotate the connection port away from the walking mechanism to the front end of the walking direction, and the grouting pipe is inserted, realizing continuous grouting operations without stopping and waiting, improving grouting efficiency, and at the same time reducing the number of operators required and lowering construction costs. Attached Figure Description

[0011] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. Wherein: Figure 1 This is a front view of the overall structure of a self-propelled low-pressure grouting device according to some embodiments of this application; Figure 2 This is a top view of the overall structure of a self-propelled low-pressure grouting device according to some embodiments of this application; Figure 3 This is a schematic diagram of the structure of a storage tank in a self-propelled low-pressure grouting device according to some embodiments of this application; Figure 4 This is a structural schematic diagram of a material receiving mechanism in a self-propelled low-pressure grouting device according to some embodiments of this application.

[0012] Explanation of reference numerals in the attached figures: 1. Walking mechanism; 11. Walking drive assembly; 12. Walking track; 13. Suction cup; 14. Rotating bracket; 2. Storage tank; 3. Grouting joint; 4. Feed inlet; 5. Injection pipe; 6. Grouting pipe; 7. Receiving mechanism; 71. Receiving bracket; 72. Receiving tray; 73. Adsorption pad; 74. Insertion hole; 75. C-type clamp. Detailed Implementation

[0013] The present application will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. In fact, those skilled in the art will understand that modifications and variations can be made to the present application without departing from the scope or spirit of the present application. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention should fall within the scope of protection of the embodiments of the present invention.

[0014] In one embodiment of this application, such as Figure 1 and Figure 2 As shown, a self-propelled low-pressure grouting device includes: The traveling mechanism 1 is used to move the grouting equipment as a whole. Two rotating supports 14 are installed on the traveling mechanism 1. Each rotating support 14 has a bearing at its end furthest from the traveling mechanism 1. A rotating shaft and a feed inlet 4 are respectively installed at both ends of the rotation axis of the storage tank 2. The rotating shaft and feed inlet 4 are rotatably connected to the bearings of the two rotating supports 14. The rotating supports 14 facilitate the rotational coordination between the storage tank 2 and the traveling mechanism 1, and the bearings further enhance the rotation of the storage tank 2. The traveling mechanism 1 can be remotely controlled to move forward and backward. The walking mechanism 1 refers to a mechanical platform that can autonomously drive and carry all grouting components and stably displace along a predetermined path (horizontal ground, slope, or vertical wall). It has forward, backward, and turning functions and can be driven by an electric motor, hydraulic motor, or pneumatic components. It also supports remote control or preset program control. The walking mechanism 1 can adopt a tracked, wheeled, or magnetic structure. Its support rigidity and motion accuracy must meet the relative positioning stability requirements of the grouting pipe 6 and the grouting hole during the grouting process. As an optional implementation, the walking mechanism 1 can be equipped with an inertial navigation module or a laser rangefinder to achieve closed-loop feedback control of the travel distance, ensuring that the timing of the removal and reconnection of the grouting pipe 6 accurately corresponds to the set grouting interval.

[0015] Storage tank 2 is rotatably mounted on the traveling mechanism 1. The rotation axis of storage tank 2 is perpendicular to the traveling direction of the traveling mechanism 1. The rotation axis of storage tank 2 is parallel to the traveling plane on which the traveling mechanism 1 is located. The rotation axis of storage tank 2 is always in a horizontal plane parallel to the supporting surface (such as the ground, floor or wall), rather than inclined or vertical. The storage tank 2 has a cylindrical structure, with the feed inlet 4 and the rotating shaft respectively located at both ends of the axial direction of the storage tank 2; the storage tank 2 is provided with four connection ports, which are evenly distributed around the axis of the storage tank 2 on the curved side wall of the storage tank 2. Four connection ports are evenly arranged at 90° angles on the outer surface of the storage tank 2, forming an orthogonal symmetrical structure. Each connection port is a rigid tubular interface penetrating the wall of the storage tank 2, with an inner diameter ranging from 6mm to 12mm. The material is 304 stainless steel or POM engineering plastic, and the end is provided with a standard thread (such as G1 / 4” internal thread) for fixed and sealed connection with the grouting pipe 6. This four-point layout ensures that there is sufficient space between adjacent connection ports to accommodate the bending radius and operating clearance of the grouting pipe 6, and that the rotation angle (90°) between any two adjacent connection ports exactly matches the geometric conversion relationship between typical grouting hole spacing (such as 300mm, 600mm, 900mm) and equipment step distance. One end of the rotation axis of the storage tank 2 is the feed inlet 4. The feed inlet 4 is connected to the interior of the storage tank 2, and the feed inlet 4 is connected to the injection pipe 5. The injection pipe 5 provides slurry material to the storage tank 2 and also provides injection pressure. The axis of the feed inlet 4 coincides with the rotation axis of the storage tank 2, and the opening diameter is 25mm to 40mm. It is equipped with an O-ring sealing groove and a metal reinforcing ring. This structure allows the external injection pipe 5 to maintain a stable slurry supply while the storage tank 2 is continuously rotating, avoiding pipe entanglement or joint detachment due to rotation. The feed inlet 4 and the body of the storage tank 2 can be integrally formed, welded, or flanged. The connection strength must withstand long-term pulsating loads under grouting pressure of 0.2MPa to 0.6MPa. As an optional implementation, the feed inlet 4 can be integrated with a rotary joint. Its stator end is connected to the injection pipe 5, and the rotor end is embedded in the end cap of the storage tank 2. It is equipped with double sealing lips and a lubrication cavity to ensure zero leakage under high-speed rotation.

[0016] Each of the four connection ports 3 is connected to a grouting pipe 6. The grouting pipe 6 is a flexible pipe, and each grouting pipe 6 has a grouting connector 3 at its free end. The grouting connector 3 has a built-in steel ball locking valve. When the grouting connector 3 is not inserted into the grouting nozzle, the grouting connector 3 will not discharge grout. This grouting connector 3 is a commonly used structure in the prior art and will not be described in detail here. As the traveling mechanism 1 moves, the storage tank 2 is rotated, separating the grouting connector 3 of the grouting pipe 6 located at the rear end of the traveling direction from the grouting nozzle, and placing it in the receiving mechanism 7 for later use. As the storage tank 2 rotates, the grouting pipe 6 will rotate to the top of the storage tank 2. At the same time, the grouting pipe 6 above the storage tank 2 is rotated to the front end of the traveling direction, and the grouting connector 3 on the grouting pipe 6 is connected to the grouting nozzle in the crack in front, achieving a seamless connection. Four equally spaced connection ports 3 form a rotating resource pool, three grouting pipes 6 located at the bottom of the storage tank 2 form a real-time operation array, and the remaining one is located above the storage tank 2 as a spare position. After the equipment moves forward a set distance (e.g., 600mm), the tail-end grouting pipe 6 completes the grouting of the current hole and separates the grouting connector 3 from the grouting nozzle. At this time, the storage tank 2 rotates 90°, and the original spare grouting pipe 6 moves to the front position, so that it can immediately connect to the new grouting nozzle through the grouting connector 3 and start the grouting of the next hole. The whole process does not require stopping the walking mechanism 1, nor does it require manual re-layout of all pipelines. This collaborative mechanism couples mechanical displacement, fluid supply and spatial switching into a unified operation rhythm, making the grouting action leap from "point-to-point discrete" to "line-to-line continuous". The storage tank 2 is constructed as a functional body capable of stable rotation around a fixed axis and rigidly integrated with the traveling mechanism 1. This allows the storage tank 2 to serve both as a temporary storage and distribution chamber for grout and as a spatial switching hub for the grouting channel. Through four circumferentially distributed connection ports and three real-time operating grouting pipes 6, the grouting points can be continuously switched during the equipment's forward movement, thus overcoming the cycle time limitations of traditional single-point grouting and significantly increasing the number of grouting holes per unit stroke and operational throughput. As an optional implementation, the storage tank 2 can be driven to rotate by a stepper motor or a servo motor, with a rotation angle resolution of no less than 5° to adapt to different hole spacing requirements.

[0017] At the rear of the traveling mechanism 1, a receiving mechanism 7 is provided to receive the grout spilled from the pulled-out grouting pipe 6 and to fix the grouting pipe 6. The receiving mechanism 7 includes a receiving bracket 71 and a receiving tray 72. Two receiving brackets 71 are provided and fixed in the middle of the traveling mechanism 1. The two ends of the receiving tray 72 are rotatably connected to the two receiving brackets 71 respectively. The rotating ends of the receiving tray 72 are located above its center of gravity. Four insertion holes 74 for fixing the grouting joint 3 are evenly spaced along its length inside the receiving tray 72. An adsorption pad 73 is provided inside the receiving tray 72. C-shaped clamps 75 for fixing the grouting pipe 6 are provided on the receiving bracket 71. The rotation center of the receiving tray 72 is located above its center of gravity, so that no matter whether the traveling mechanism 1 moves horizontally or vertically, the opening of the receiving tray 72 always faces upward, which facilitates its adaptation to different working environments of the grouting equipment. The grouting connector 3 of the removed grouting pipe 6 can be fixed by placing it in the insertion hole 74 within the receiving tray 72, allowing excess grout to drip into the receiving tray 72. The absorbent pad 73 can absorb the grout, and the absorbent pad 73 can be replaced and disposed of centrally at any time. This arrangement prevents the grout flowing from the removed grouting pipe 6 from spilling onto the ground or wall surface and contaminating the construction environment. At the same time, the C-shaped clamp 75 set on the receiving bracket 71 can fix the grouting pipe 6, allowing for the placement of a spare grouting pipe 6. This embodiment, by integrating the receiving tray 72 and the built-in absorbent pad 73 at the tail of the traveling mechanism 1, forms a passive collection and restraint structure for residual grout after the grouting pipe 6 is disassembled. It achieves directional reception and temporary fixation of dripping grout, thereby preventing it from flowing, splashing, or leaking onto the construction surface and ensuring a clean and controllable working environment. Among them, the receiving tray 72 serves as a support and container, and the adsorption pad 73 serves as a functional consumable layer. Together, they form a three-level anti-pollution mechanism of "physical interception - capillary adsorption - temporary locking", which significantly improves the environmental adaptability and operation and maintenance friendliness of the equipment under continuous grouting switching conditions.

[0018] The receiving tray 72 is a rigid shell structure, fixedly installed at the end of the traveling mechanism 1 along the direction of travel. Its opening faces upward and its horizontal projection coverage is greater than 1.5 times the outer diameter of the opening of a single grouting pipe 6. The tray body is made of corrosion-resistant engineering plastic or stainless steel, and the inner wall is provided with an annular limiting flange to restrain the circumferential displacement of the adsorption pad 73. A removable sealing cover is provided at the bottom of the tray body for easy periodic cleaning of accumulated slurry. This structure can be replaced with a shallow trough-type receiving structure with an inclined guiding bottom surface, the bottom surface of which forms an angle of 5°–12° with the horizontal plane, guiding the slurry to converge in the low-level liquid collection area and enhancing the effective liquid absorption capacity of the adsorption pad 73 before local saturation.

[0019] The adsorption pad 73 is a porous polymer composite material layer with a thickness of 8–15 mm and an areal density of 300–600 g / m². It features rapid wetting, high liquid retention (≥12 g / g), and resistance to chemical erosion by grout. Its substrate is a cross-linked sodium polyacrylate / cellulose composite sponge with a hydrophobic modification treatment to form a microporous gradient distribution structure, ensuring that the grout is quickly drawn into the internal pores by capillary force and locked in after contact, preventing backflow or lateral diffusion. The adsorption pad 73 is fixed to the inner wall of the receiving tray 72 by magnetic snap-fit ​​or peelable double-sided tape, supporting quick replacement. The adsorption pad 73 can also be replaced with a diatomaceous earth-bentonite composite pressed pad, or a dry-wet dual-state adaptable adsorption unit composed of a biodegradable starch-based porous membrane laminated with non-woven fabric, to adapt to grouting materials with different viscosities and initial setting times.

[0020] The components work together as follows: When the traveling mechanism 1 moves to the end point of the grouting hole spacing along the preset path, the operator vertically lowers the grouting connector 3 of the grouting pipe 6 located at the tail end of the traveling mechanism 1 and inserts it into the insertion hole 74 of the receiving tray 72. The residual grout in the pipe flows down the pipe wall under gravity and drips onto the surface of the adsorption pad 73, where it is immediately captured and locked in the micropores by its porous structure. The adsorption pad 73 continues to absorb until it reaches the saturation threshold, during which time there is no grout overflow, flow, or volatile emission. The saturated adsorption pad 73 is removed and replaced with a new pad. The entire process does not require stopping the machine to clean the ground or wall. The spare grouting pipe 6 is then fixed with a C-type clamp 75.

[0021] Through the above technical solution, the following is achieved: During the rotation operation of the grouting pipe 6 by the self-propelled low-pressure grouting equipment, the material receiving tray 72 provides a deterministic receiving space and the adsorption pad 73 provides an instant liquid-locking capability, so that the residual grout in the removed grouting pipe 6 is forcibly constrained in a designated area and physically fixed. This solves the common problems in the background technology, such as construction site pollution, substrate adhesion damage, increased subsequent cleaning burden, and increased environmental compliance risks caused by the random leakage of grout after manual pipe removal. This ensures the continuity, cleanliness, and standardization of grouting operations, reduces on-site environmental maintenance costs, and improves the applicability of the equipment in scenarios with stringent requirements for civilized construction, such as municipal engineering, tunnels, and bridges.

[0022] In another embodiment of this application, this embodiment is based on other embodiments, such as... Figure 1 As shown, the walking mechanism 1 includes a walking drive assembly 11 and a walking track 12. The walking drive assembly 11 is connected to the walking track 12 and drives the walking track 12 to move. Several suction cups 13 are provided on the outer surface of the walking track 12. By using the walking track 12 and suction cups 13 in combination, the walking mechanism 1 can be attached to the wall and move vertically to realize grouting of cracks on the wall, thus expanding its application range.

[0023] The walking mechanism 1 adopts a modular integrated design. Through the coordinated operation of the walking drive component 11 and the walking track 12, it forms a mobile platform capable of active displacement. The walking drive component 11 is the power source and motion control core, including a motor, reducer, drive shaft, and control system. Its output end is connected to the drive wheel of the walking track 12 via chain drive, gear meshing, or synchronous belt drive, thereby driving the entire track to circulate around the support roller, guide roller, and tension roller, enabling controllable forward, backward, and fine-tuning positioning of the equipment in horizontal, inclined, or vertical directions. The walking track 12 has a flexible closed-loop structure, and the material can be selected from high-strength polyurethane composite rubber, reinforced polyvinyl chloride (PVC), or silicone-fiber composite material, possessing wear resistance, aging resistance, and a certain degree of deformation adaptability. Its width is 120–250 mm, and the pitch is 40–80 mm to balance ground contact area and curved surface fit. Several suction cups 13 are evenly distributed on the outer surface of the track, arranged in an array along the length of the track. Each track is equipped with no less than 6 suction cups 13, and 8–12 are optional. In an optional embodiment, each suction cup 13 is a negative pressure adsorption unit, including an elastic suction cup 13 body, a built-in one-way valve, and a micro vacuum generating channel. The suction cup 13 body is made of silicone or natural rubber, with a diameter of 30–60 mm and a lip-shaped sealing ring on the edge. The vacuum generating channel is connected to the internal air circuit system of the walking mechanism 1, and negative pressure is provided by a micro vacuum pump or a Venturi effect ejector. When working, the suction cup 13 automatically draws in suction after contacting the base surface to form a local vacuum cavity. The adsorption force is 80–200 N / cup, which is sufficient to support the weight of the entire machine and resist the disturbance of the grouting reaction force. The suction cups 13 are connected to the track by quick-release buckles or threaded nesting structures for easy replacement and maintenance. Their arrangement avoids track seams and high-stress bending areas to ensure adsorption stability and track life balance.

[0024] The walking drive component 11 and the walking track 12 form a power transmission chain to realize the equipment displacement function; the suction cup 13 independently undertakes the interface adhesion function. The two are physically separate but functionally complementary: the walking track 12 provides continuous movement capability, and the suction cup 13 provides instantaneous anchoring capability; when the equipment moves to the starting point of the operation, the control system pauses the track movement and simultaneously starts the vacuum system to enable all suction cups 13 to complete the adsorption; during the grouting process, even if the equipment vibrates slightly due to fluctuations in grout pressure, the suction cup 13 can compensate for the displacement deviation in real time through elastic deformation; after completing a single operation, the vacuum is first released, the suction cup 13 is released, and then the track drive is restored to realize the periodic operation process of "adsorption-operation-desorption-movement". Each suction cup 13 can be independently controlled to start and stop, supporting a zoned adsorption strategy—for example, when working on a wall, only the suction cups 13 on the upper track are used to enhance the anti-overturning moment, while the lower track maintains light contact to facilitate guidance and adjustment; it can also be adapted to different substrates: for smooth ceramic tile surfaces, a combination of high vacuum and 30-40 mm diameter suction cups 13 is used; for rough concrete surfaces, 50-60 mm diameter suction cups 13 are used in conjunction with micro-positive pressure pre-filling to improve the initial bonding speed.

[0025] Through the above technical solution, this application achieves the following: When the self-propelled low-pressure grouting equipment performs crack grouting operations on a vertical wall, the walking drive component 11 drives the walking track 12 to run smoothly at low speed, so that the equipment rises or falls at a uniform speed along a preset path; several suction cups 13 on the outer surface of the walking track 12 trigger vacuum adsorption at the moment of contact with the wall, forming a reliable interface constraint, effectively suppressing the equipment from sliding down due to its own weight, grouting backlash load, or external disturbances. As a result, the equipment can autonomously complete long-distance continuous grouting operations on the wall without external support or manual straightening. Compared with the traditional manual operation method that requires scaffolding or suspended platform assistance, this embodiment significantly improves the safety and efficiency of high-altitude and vertical operations, expands the application scope of self-propelled low-pressure grouting equipment in various engineering scenarios such as building repair and infrastructure maintenance, and reduces the requirements for the number of operators and their professional skills.

[0026] In another embodiment of this application, the difference between this embodiment and other embodiments is that, as Figure 1 As shown, the storage tank 2 has a spherical structure, with the feed inlet 4 and the rotating shaft respectively located at the two ends of the diameter of the storage tank 2; four connection ports are evenly distributed around the axis of the storage tank 2 on the curved side wall of the storage tank 2.

[0027] The working principle is as follows: the rotatable storage tank 2 allows for the simultaneous connection of three grouting pipes 6 for grouting operations. Because the rotation axis of the storage tank 2 is perpendicular to the walking direction and parallel to the walking plane, the 90° equidistant structure formed by the four connection ports in the circumferential direction can be directly mapped to a sequence of equidistant grouting points along the walking direction. Since three of the four grouting pipes 6 connected to the four connection ports are always grouting, the ability to simultaneously grout through three holes is guaranteed at any given time. Because the feed inlet 4 is located at one end of the rotation axis and connected to the grouting pipe 5, it ensures that the storage tank 2 continuously receives grout during rotation, maintaining stable grouting pressure. Thus, during the continuous forward movement of the equipment driven by the walking mechanism 1, only three steps of "pipe pulling - tank rotation - pipe connection" need to be periodically executed to achieve seamless connection of grouting operations. This structure fundamentally avoids the inefficient aspects of traditional processes, such as frequent downtime, repetitive pipe laying, and the need for multiple personnel to work together. It solves the technical problems of low grouting efficiency, high dependence on manual labor, and complex construction organization mentioned in the background technology, achieving the technical effects of increasing the grouting volume per unit time, reducing the labor cost per hole, and enhancing the continuity of operation. Furthermore, by using the rotating storage tank 2 with four connection ports, the travel distance of the walking mechanism 1 is compensated, facilitating continuous operation. At the same time, it also reduces the number of operators required and lowers construction costs.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0032] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0033] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A self-propelled low-pressure grouting device, characterized in that, include: The traveling mechanism is used to move the grouting equipment as a whole. A storage tank is rotatably mounted on a traveling mechanism. The rotation axis of the storage tank is perpendicular to the traveling direction of the traveling mechanism and parallel to the traveling plane of the traveling mechanism. The storage tank has four connection ports, which are evenly spaced around the rotation axis of the storage tank. One end of the rotation axis of the storage tank is a feed inlet, which communicates with the interior of the storage tank and is connected to a grouting pipe. Each of the four connection ports is connected to a grouting pipe, and each grouting pipe has a grouting connector at its free end.

2. The self-propelled low-pressure grouting equipment according to claim 1, characterized in that, The walking mechanism includes a walking drive component and a walking track. The walking drive component is connected to the walking track and drives the walking track to move. The outer surface of the walking track is provided with several suction cups.

3. The self-propelled low-pressure grouting equipment according to claim 1, characterized in that, The walking mechanism is provided with two rotating brackets, and each rotating bracket is provided with a bearing at the end away from the walking mechanism. The two ends of the rotation axis of the storage tank are respectively provided with a rotating shaft and a feed inlet. The rotating shaft and the feed inlet are rotatably connected to the bearings of the two rotating brackets.

4. The self-propelled low-pressure grouting equipment according to claim 1, characterized in that, At the rear of the traveling mechanism in the direction of travel, there is a receiving mechanism for receiving the grout spilled from the pulled-out grouting pipe and for fixing the grouting pipe.

5. The self-propelled low-pressure grouting equipment according to claim 4, characterized in that, The material receiving mechanism includes a material receiving bracket and a material receiving tray. Two material receiving brackets are provided and fixed in the middle of the traveling mechanism. The two ends of the material receiving tray are rotatably connected to the two material receiving brackets respectively. The rotating ends of the material receiving tray are located above its center of gravity. The material receiving tray has a number of equally spaced insertion holes for fixing the grouting joint. An adsorption pad is provided in the material receiving tray. C-shaped clamps for fixing the grouting pipe are provided on the material receiving bracket.

6. The self-propelled low-pressure grouting equipment according to claim 3, characterized in that, The storage tank has a cylindrical structure, and the feed inlet and the rotating shaft are respectively located at both ends of the axial direction of the storage tank; the four connection ports are evenly distributed on the curved side wall of the storage tank around the axis of the storage tank.

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